Release update 2026-11-05: 5760 sessions, instructions, annotations (part 338)

actions/locomanipulation/LM10/session_021/cameras/gsi_online_calibration.json

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+{
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+ },
+ "cameras": {
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "rotvec_deg": [
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+    -0.4549,
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+   "split_deg": 0.018,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+  },
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+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.697,
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+  "right_front-right_eye": 0.704
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+  "left_eye": 39.29,
+  "left_front": 44.881,
+  "right": 41.578,
+  "right_eye": 41.077,
+  "right_front": 43.768
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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actions/locomanipulation/LM10/session_021/cameras/slam.npz

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actions/locomanipulation/LM10/session_021/meta.json

@@ -353,8 +353,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -505,12 +505,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     -0.2151,
+     -0.0774
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+    "dev_deg": {
+     "median": 19.43,
+     "p90": 36.23
+    },
+    "samples": 4112,
+    "accepted": 3277,
+    "wrist_pos_err_mm_median": 33.6,
+    "per_camera": {
+     "head": {
+      "samples": 4112,
+      "accepted": 3277,
+      "gate_deg": 30.0,
+      "offset_deg": 26.73,
+      "tier": "primary",
+      "dev_deg_median": 19.43,
+      "wrist_pos_err_mm_median": 33.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13194,
+     "interpolated": 1970,
+     "mean_hand": 1540,
+     "no_body_fit": 476
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+    "observed_fraction": 0.8827,
+    "observed_fraction_of_valid": 0.9078,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.64,
+     "smplx": 1.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.0,
+      "p90": 17.4
+     },
+     "registered": {
+      "median": 10.6,
+      "p90": 15.1
+     }
+    }
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+    "dev_deg": {
+     "median": 7.71,
+     "p90": 17.73
+    },
+    "samples": 4043,
+    "accepted": 3937,
+    "wrist_pos_err_mm_median": 30.7,
+    "per_camera": {
+     "head": {
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+      "accepted": 3937,
+      "gate_deg": 30.0,
+      "offset_deg": 32.25,
+      "tier": "primary",
+      "dev_deg_median": 7.71,
+      "wrist_pos_err_mm_median": 30.7
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+    "frames_by_state": {
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+     "interpolated": 742,
+     "mean_hand": 152,
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+    "observed_fraction": 0.9634,
+    "observed_fraction_of_valid": 0.9909,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.81,
+     "smplx": 1.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.2,
+      "p90": 30.2
+     },
+     "registered": {
+      "median": 14.6,
+      "p90": 27.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:37:54.821958+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM10/session_021",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261024/LM10/20261024_025423_session20"
  },
+ "task": {
+  "primitive": "LM10",
+  "instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "LittleBox1",
@@ -536,18 +650,6 @@
    "source": "mocap",
    "pose_frame": "mesh"
   },
-  {
-   "name": "LittleBox5",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
-  {
-   "name": "LittleBox6",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "Table",
    "object_type": "Table",

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